时滞网络化控制系统的鲁棒H∞稳定性分析

摘要

考虑控制器和执行器事件驱动、传感器时钟驱动、恒定周期采样和不大于一个采样周期的不确定时延,将有控制约束的状态反馈网络控制系统建模为含有不确定性的离散时变系统.利用Lyapunov理论和线性矩阵不等式方法,导出系统鲁棒稳定的充要条件.利用Matlab LMI工具箱求解该条件,可在判定该类系统稳定性的同时,获得系统鲁棒控制律,仿真算例说明了分析方法和稳定判据的有效性.%This paper considers the event driven of controller and actuator,clock-driven of sensors,constant sampling period and less than one sampling period of uncertain time delay,and changes state feedback network control system with state constrained to uncertain discrete time varying system.It uses Lyapunov theory and linear matrix inequality method to obtain the necessary and sufficient conditions of robust stability.By using the Matlab LMI toolbox to solve the condition,the system stability can be determined,and the system robust control law can also be obtained.Simulation example proves the effect of the analysis method and stability criterion.